CN110514375A - The virtual vibration test test method of satellite and system based on virtual reality - Google Patents
The virtual vibration test test method of satellite and system based on virtual reality Download PDFInfo
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Abstract
The present invention provides the method and system of the virtual vibration test test of the satellite based on virtual reality, is laid out building virtual reality scenario according to laboratory, carries out human-computer interaction, and carry out virtual reality and show；The Virtual Star platform model of Satellite Vibration Test is constructed, Virtual Star platform model is based on, carries out the virtual test of Satellite Vibration Test；The information generated in virtual test is handled, experiment condition is optimized.Integrated Simulation Platform technology is virtually vibrated with Dynamic Modeling and model modification method and satellite, the multi-body dynamics modeling based on Transfer Matrix Method and calculating, data analysis and Modifying model.The present invention solves the technological difficulties of the virtual vibration test of prior art Satellite, improve virtual test visualization and interactivity, model parameter and vibration test condition are optimized, the test period is shortened, provides advanced virtual vibration test means of testing for complexity Satellite Vibration Test.
Description
Technical field
The present invention relates to vibration test the field of test technology in satellite force environmental simulation, and in particular, to one kind is based on
The virtual vibration test test method of the satellite of virtual reality and system.
Background technique
As satellite structure becomes increasingly complex, the new technology that uses, new material are more and more, and the lead time is increasingly
Short, the cost and risk of satellite force test is all in rapid increase trend.If the change of one secondary design of every progress will carry out whole
Satellite experiment, research and development cost is too expensive, but without these tests, then exposes defect again, caused by lose it is then bigger.And only
The method for only using mathematical analysis, often due to the inaccuracy of boundary condition imitation, is extremely difficult to that the emulation essence of application can be engineered
Degree.Therefore, more and more design departments propose continuation Development Technology, in conjunction with the advantage of physical test, carry out based on test
The mechanical test emulation that equipment is combined with satellite --- carry out virtual vibration test, to reduce the number of actual experimental, contracting
Short development cost and period.Virtual vibration test is exactly based on computer simulation technique, using Local physical test, low load
Lotus physical test and the methods of correlation analysis and Modifying model, finally on computers analog satellite overall structure in actual experimental
Kinetic characteristics and response condition under operating condition and boundary condition, i.e. progress virtual test, to reach reduction integral model test
Or reduce the purpose of big load operating condition of test.
The prior art relevant to the application is patent document CN105260581B, discloses a kind of naval vessel electromechanical control equipment
Virtual vibration and shock testing method, establishes equipment geometrical model；Establish finite element model；Apply boundary on finite element model
Progress virtual modal test on the basis of the frequency range of model analysis is arranged in condition, the method for determining model analysis；In finite element
Apply boundary condition on model, is carried out on the basis of the method for determining vibration harmonic responding analysis, the frequency range of setting vibration analysis
Virtual vibration test；Contact type and exposure parameter between component are being defined, is applying boundary condition on finite element model
With virtual impact test is carried out on the basis of shock loading；In conjunction with the experimental test result of electromechanical control equipment dynamic characteristic, adjustment
Parameter progress is virtually tested again, until the error between virtual test result and experimental test data is met the requirements.
But at present all there are some problems in either full-scale investigation or virtual experimental: (1) in the design phase to satellite
Can structure need to carry out finite element simulation verifying, but current satellite monomer model emulation by vibration test, due to perimeter strip
Part can not accurate simulation, cause phantom error excessive, do not have the effect of predetermined design defect；(2) commercialized virtual
Experiment software is complicated for operation, and testing crew progress Vibration Test Simulation is time-consuming and laborious, is easy to malfunction, and all kinds of structural parameters
It determines extremely difficult, affects to simulation accuracy and accuracy.(3) period for implementing vibration test is very long, and
One is produced even more than test specimen or model, is expended huge；(4) indeed vibrations test is limited by number of sensors,
Comprehensive structural response characteristic can not be obtained, there are the risks of test result erroneous judgement；(5) be mounted on testing stand due to test specimen and
Coupled relation and the boundary condition difference being mounted on actual product, therefore testing stand is difficult to simulate really to vibrate completely to swash
It encourages, easily causes overtesting or undertesting problem, there are certain empirical risks；(6) full-scale investigation is tested out by sensor
The data come only obtain relevant curve by professional the poster processing soft, at most can only a plurality of curve compare and analyze,
And protosatellite practical synthesis oscillation state in the entire experiment process can not be gone back.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of satellites based on virtual reality virtually to vibrate
Testing method and system.
A kind of virtual vibration test test macro of the satellite based on virtual reality provided according to the present invention, including with lower die
Block:
Virtual reality module: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables in laboratory
Each experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model module: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration
The virtual test of test；
Virtual instrument module: handling the information generated in virtual test, optimizes experiment condition.
Preferably, the virtual reality module includes:
Input processing module: receiving and transmits the input information of input equipment；
Simulation process module: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual existing
All kinds of behavioral activities in real field scape；
Performance processing module: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereo vision module: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
Preferably, the model module includes:
Dummy satellite submodule: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input of power are established
Output relation, establish each volume elements part and connection hinge element equation of transfer and transfer matrix, be assemblied into the total equation of transfer of star platform and
Assembled transferring matrix；
Shake table model submodule: establishing augmented feature vector, by orthogonality condition, carries out to the total equation of transfer of star platform
Solution is even, simultaneous boundary condition, obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, obtains star platform Coupled Dynamic
Characterisitic parameter carries out star platform and couples rapid kinetics response computation, obtains generalized coordinates and dynamic response.
Preferably, the virtual instrument module is made of data Layer, process layer, application layer, passes through data structure and more bodies
System dynamics algorithm realizes the information processing based on virtual reality.
A kind of virtual vibration test test method of the satellite based on virtual reality provided according to the present invention, including following step
It is rapid:
Virtual reality step: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables in laboratory
Each experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model step: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration
The virtual test of test；
Virtual instrument step: handling the information generated in virtual test, optimizes experiment condition.
Preferably, the virtual reality step includes:
Input processing step: receiving and transmits the input information of input equipment；
Simulation process step: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual existing
All kinds of behavioral activities in real field scape；
Performance processing step: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereoscopic vision step: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
Preferably, the model step includes:
Dummy satellite sub-step: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input of power are established
Output relation, establish each volume elements part and connection hinge element equation of transfer and transfer matrix, be assemblied into the total equation of transfer of star platform and
Assembled transferring matrix；
Shake table model sub-step: establishing augmented feature vector, by orthogonality condition, carries out to the total equation of transfer of star platform
Solution is even, simultaneous boundary condition, obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, obtains star platform Coupled Dynamic
Characterisitic parameter carries out star platform and couples rapid kinetics response computation, obtains generalized coordinates and dynamic response.
Preferably, the Virtual Star platform model passes through following steps:
Building model step: physical model is converted by mock-up, establishes the star platform coupling being made of satellite and shake table
Close kinetic model；
Characteristic joins step surely: it is equivalent to star platform Coupling Dynamic Model progress model, obtain star platform coupling dynamic characteristic ginseng
Number；
Response computation step: being based on dynamic characteristic parameter, carries out star platform and couples rapid kinetics response computation, obtains star platform
Coupled Multibody System dynamic response；
Model optimization step: in conjunction with sensitivity analysis, parameter is carried out to star platform Coupling Dynamic Model by modal parameter
Optimization.
Preferably, the building model step includes:
More body transmission steps: converting physical model for mock-up, establishes satellite and each volume elements part of shake table and each
Connect the displacement between hinge element and the input/output relation of power；
Model foundation step: being based on multi-body system transfer matrix, establishes the equation of transfer of each volume elements part and connection hinge element
And transfer matrix, splicing obtain total equation of transfer and assembled transferring matrix.
Preferably, it is to establish augmented feature vector that the model is equivalent, by orthogonality condition, is carried out to kinetics equation
Solution of equation is even, simultaneous boundary condition, obtains characteristic equation, solves characteristic equation and obtains intrinsic frequency, obtain formation, obtains star platform
Coupling dynamic characteristic parameter.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention solves the technological difficulties of the virtual vibration test of prior art Satellite, improve virtual test visualization and
Interactivity optimizes model parameter and vibration test condition, shortens the test period, provides elder generation for complexity Satellite Vibration Test
Into virtual vibration test means of testing.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the virtual vibration experiment architecture diagram of the satellite of the invention based on virtual reality；
Fig. 2, Fig. 3 are satellite structure of the invention and shake table model schematic；
Fig. 4 is chained form system topological diagram；
Fig. 5 is tree system topological diagram；
Fig. 6 is that closed loop is illustrated to tree-like conversion.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
A kind of virtual vibration test test macro of the satellite based on virtual reality provided according to the present invention, including with lower die
Block:
Virtual reality module: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables in laboratory
Each experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model module: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration
The virtual test of test；
Virtual instrument module: handling the information generated in virtual test, optimizes experiment condition.
Specifically, the virtual reality module includes:
Input processing module: receiving and transmits the input information of input equipment；
Simulation process module: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual existing
All kinds of behavioral activities in real field scape；
Performance processing module: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereo vision module: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
Specifically, the model module includes:
Dummy satellite submodule: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input of power are established
Output relation, establish each volume elements part and connection hinge element equation of transfer and transfer matrix, be assemblied into the total equation of transfer of star platform and
Assembled transferring matrix；
Shake table model submodule: establishing augmented feature vector, by orthogonality condition, carries out to the total equation of transfer of star platform
Solution is even, simultaneous boundary condition, obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, obtains star platform Coupled Dynamic
Characterisitic parameter carries out star platform and couples rapid kinetics response computation, obtains generalized coordinates and dynamic response.
Specifically, the virtual instrument module is made of data Layer, process layer, application layer, passes through data structure and more bodies
System dynamics algorithm realizes the information processing based on virtual reality.
A kind of virtual vibration test test method of the satellite based on virtual reality provided according to the present invention, including following step
It is rapid:
Virtual reality step: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables in laboratory
Each experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model step: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration
The virtual test of test；
Virtual instrument step: handling the information generated in virtual test, optimizes experiment condition.
Specifically, the virtual reality step includes:
Input processing step: receiving and transmits the input information of input equipment；
Simulation process step: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual existing
All kinds of behavioral activities in real field scape；
Performance processing step: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereoscopic vision step: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
Specifically, the model step includes:
Dummy satellite sub-step: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input of power are established
Output relation, establish each volume elements part and connection hinge element equation of transfer and transfer matrix, be assemblied into the total equation of transfer of star platform and
Assembled transferring matrix；
Shake table model sub-step: establishing augmented feature vector, by orthogonality condition, carries out to the total equation of transfer of star platform
Solution is even, simultaneous boundary condition, obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, obtains star platform Coupled Dynamic
Characterisitic parameter carries out star platform and couples rapid kinetics response computation, obtains generalized coordinates and dynamic response.
Specifically, the Virtual Star platform model passes through following steps:
Building model step: physical model is converted by mock-up, establishes the star platform coupling being made of satellite and shake table
Close kinetic model；
Characteristic joins step surely: it is equivalent to star platform Coupling Dynamic Model progress model, obtain star platform coupling dynamic characteristic ginseng
Number；
Response computation step: being based on dynamic characteristic parameter, carries out star platform and couples rapid kinetics response computation, obtains star platform
Coupled Multibody System dynamic response；
Model optimization step: in conjunction with sensitivity analysis, parameter is carried out to star platform Coupling Dynamic Model by modal parameter
Optimization.
Specifically, the building model step includes:
More body transmission steps: converting physical model for mock-up, establishes satellite and each volume elements part of shake table and each
Connect the displacement between hinge element and the input/output relation of power；
Model foundation step: being based on multi-body system transfer matrix, establishes the equation of transfer of each volume elements part and connection hinge element
And transfer matrix, splicing obtain total equation of transfer and assembled transferring matrix.
Specifically, it is to establish augmented feature vector that the model is equivalent, by orthogonality condition, Solution of equation idol is carried out to kinetics equation, simultaneous boundary condition obtains
Characteristic equation is obtained, characteristic equation is solved and obtains intrinsic frequency, obtain formation, obtain star platform coupling dynamic characteristic parameter.Perimeter strip
Part is the connection relationship of each element, including, power, displacement etc..Absorbing boundary equation should can also be to be all finally to pass through equation
To state border relations.
The present invention utilizes new virtual reality technology and virtual instrument technology, improves test efficiency, improvement experimental condition exists
There is great value in engineering.One kind is constructed using the relevant technologies of Virtual Realization, virtual instrument, virtual emulation and vibration test
The virtual vibration test test method of satellite based on virtual reality.Wherein, the effect of satellite structure and shake table geometrical model is
In order to increase the sense of reality of virtual environment and the property immersed, its degree true to nature only need to be improved, is wanted in terms of the precision of shape and details
Ask not high.It establishes geometrical model and obtains certain with hierarchical structure convenient for carrying out the motion control of satellite in virtual test system
Satellite structure and shake table model, as shown in Figure 2 and Figure 3.Satellite virtual test is by reading test data, by the number of test
Be transformed into time domain data according to from frequency domain data, by by collected data-driven threedimensional model of each moment in virtual environment
Movement, it is therefore desirable to establish the corresponding relationship between model and sensor, need coordinate system and company to model in modeling process
The relationship of connecing does specially treated, and the interference relationship for considering model is also needed in assembly.
As shown in Figure 1, the present invention relates to dynamic modelings virtually to shake with model modification method and satellite in specific implementation
Movement and motor-driven integrative emulation platform.The Dynamic Modeling and model modification method, specifically include that establish satellite and shake table composition
Star platform Coupling Dynamic Model obtains star platform coupling dynamic characteristic parameter, carries out star platform and couples rapid kinetics response computation, right
Model parameter carries out analysis optimization.Satellite virtually vibrates Integrated Simulation Platform, specifically includes that virtual reality subsystem, model
Subsystem and virtual instrument subsystem.The present invention tested Satellite Vibration Test result by virtual reality technology true reappearance
Journey drives dummy model animation simulation to complete test data, intuitive to reflect satellite structure dynamic characteristic, completes physical parameter and knows
Not and model optimization, the optimization to dummy satellite and the improvement of vibration test scheme are realized, improves Satellite Vibration Test standard
True property, meets the test specification of satellite force environment.
By celestial body coupling model and test model correlation analysis, in conjunction with sensitivity analysis, to the matter of kinetic model
The parameters revisions such as amount, rigidity, elasticity modulus, size obtain correction model, realize parameter optimization by iteration.
The virtual reality subsystem completes system visualization and human-computer interaction, therefore has perceptibility.
Input processing part: control is for the various equipment to computer input information, such as keyboard, mouse, tracking ball, control
Bar processed etc..The target of input processing is by data processing and to be transferred to other relevant portions of system with the time short as far as possible.
Simulation process part: various interactions, scripting object behavior are handled, to emulate actual physical testing process true
State that is real or imaginary and determining respective virtual experimental enviroment.User realizes that collision detection, script are retouched by simulation engine
It each generic task such as draws, and determines all kinds of behavioral activities that will occur in virtual test environment.
It shows processing department: generating output to the various stimulus to the sense organ of user, mainly vision and the sense of hearing, can also include
Tactile etc. and some other sensory response such as balance and movement, temperature, the sense of taste.Each sensory manifestation device passes through at emulation
Reason directly describes virtual testing environment by scene database from different perspectives.
Virtual instrument module: receiving the heat transfer agent of reality or dummy experiment system, completes required for dummy experiment system
Various signal processing functions.
Stereo vision module: the dynamic environment modeling means based on more visual stereoscopic imaging techniques are provided.
Database Systems: including scene database, test database and product database etc..Scene database is for storing
The related data of scene about virtual environment, such as object information related in virtual environment describe these object behaviors or make
The test databases such as script information, optical effect, process control, the support information of hardware device of user were tested for storing
The data generated in journey include intermediate data and result data product database for storing related industrial standard, being about test
The Primary Stage Datas such as the domain knowledge of system, subjects etc..
Model subsystem includes star platform geometrical model, physical model, different excitation models etc..By in Satellite Vibration Test
Star platform physical model, star platform motion model and star platform geometrical model realize the Satellite Vibration virtual test system based on virtual reality
The virtual test function of system.
Virtual instrument subsystem is made of data Layer, process layer and application layer, passes through data structure and multi-body system power
Algorithm is learned, algorithm realizes the information processing of the Satellite Vibration virtual test system based on virtual reality.
Specifically, the star platform Coupling Dynamic Model of the satellite and shake table composition, applicationization height, calculating speed
Much faster system system transfer matrix method carries out dynamic analysis and dynamic response calculates, and avoids usual many-body dynamics side
Method must be set up overall dynamics equation, be related to the high defect of matrix order.The star platform coupling dynamic characteristic parameter, construction increase
Wide characteristic vector, it was demonstrated that augmented feature vector orthogonality, it is low to be related to matrix order, can rapidly and accurately obtain star platform and couple more bodies
The modal parameter of system avoids the morbid state of characteristic value calculating.The Dynamic Modeling and model modification method, by by low amounts
Grade test carries out modal parameter correlation analysis, each physical parameter of Optimized model, while Adjustment Tests condition with simulation result, changes
Into testing program.
Further, the virtual reality subsystem, by virtual experimental technology, testing crew can enter virtual test ring
Border is observed and is studied to it on space scale in different times, seek logical relation between different data collection and
Physical relation.Virtual reality scenario is constructed according to laboratory layout, by static workshop, shake table, test equipment, workbench
It is imported into Unity3D software with the threedimensional model .FBX file of dynamic satellite, the scenes such as setting fluorescent lamp, shade, video camera
Rendering, and position positioning is carried out to each testing equipment.Equipment adds collision detection and rigid body attribute, so that setting in virtual test
It applies with physical attribute.The virtual reality subsystem is shown for virtual reality during virtual test and human-computer interaction, makees
For sensing layer.The model subsystem carries out physical model, motion model, geometrical model by establishing satellite and shake table, complete
It is realized at the test function of emulation, test etc., as functional layer.The virtual instrument subsystem is transported by data transmission, data
Calculation, data processing, data are shown, convert electrical signals into frequency domain, the time-domain signal of needs, obtain modal parameter and movement is rung
Answer parameter.As Information Level.
Further, the satellite virtually vibrates Integrated Simulation Platform, by virtual environment to pilot system and
Test process carries out simulation analysis, can easily be planned testing program, modified, optimized and assessed.
Further, the satellite virtually vibrates Integrated Simulation Platform, with interactive simulation work environment
In, people is by lagging, passively participant becomes leading, active participant.
Further, the satellite virtually vibrates Integrated Simulation Platform, interface include emulation data and virtual environment,
The interface of equipment and virtual environment integrates the test equipments such as simulation calculating, virtual environment operation and sensor.
Further, the model subsystem, the time domain shift data and satellite motion responded with the vibration test of satellite
Model-driven satellite is vibrated and is moved in reality environment.
In star platform coupling rapid kinetics response computation, as shown in figure 4, " assembly " of system is only for chained form system
These matrix multiples are equivalent to, total equation of transfer z of system can be found outn,0=Un-1…U1z1,0With assembled transferring matrix Uall=
Un-1…U1.For tree system, as shown in figure 5, tree system can be obtained by the main equation of transfer and geometric equation of tree system
Total equation of transfer
Uallzall=0
In formula
The total equation of transfer automatic deduction theorem of tree system
1) total equation of transfer pertains only to the dotted state vector z of system boundaryall；
2) the first row element of assembled transferring matrix is respectively to transmit square by element each on from tip boundary point to root boundary point path
Battle array successively continued product；
3) the other row elements of assembled transferring matrix are respectively by each member on from tip boundary point to furcation body element input point path
Part transfer matrix successively continued product.
For general multi-body system, it can be processed into tree system, as shown in Figure 6.Then it only needs according to tree-like
The rule of system, can column write through system total equation of transfer.
For closed-loop system, carrying out " cutting " processing in certain junction is tree system, as shown in figure 3, final closed loop system
System can be treated to be chained form system, and deriving principle is that total equation of transfer pertains only to the dotted state vector of system boundary, assembled transferring matrix the
One row element is respectively by element transfer matrix each on from tip boundary point to root boundary point path successively continued product；Assembled transferring matrix
Other row elements are respectively each element transfer matrix successively continued product on from tip boundary point to furcation body element input point path.It is logical
Simultaneous supplement equation is crossed, equation of transfer is carried out and transfer matrix derives.
Star platform Coupled Multibody System, after establishing the body dynamics equation of system, simultaneous boundary condition obtains the feature of system
Equation solves characteristic equation and obtains system frequency；It is dotted that total equation of transfer acquisition boundary is solved under certain rank intrinsic frequency
State vector；By the augmented feature vector for constructing system, it was demonstrated that augmented feature vector orthogonality, it is only necessary to the body power of solving system
Learn equation, so that it may obtain the generalized coordinates and dynamic response of system.
The present invention provides the virtual vibration experiment of fast and accurately satellite to complete satellite force environmental test, will
Physical test, dynamics simulation are combined with virtual test, improve the verisimilitude and actual effect of virtual vibration test process；It is right
Satellite carries out Accurate Model and Physical parameter optimization, helps to improve the accuracy of virtual vibration test；Optimize vibration test
Scheme shortens the test period of satellite, improves vibration test efficiency, and the vibration test technology for meeting satellite force environment is wanted
It asks.Test result is tested into process by virtual reality technology true reappearance, drives dummy model animation to complete test data
Simulation, it is intuitive to reflect satellite structure dynamic characteristic, physical parameter identification and model optimization are completed, is realized to the excellent of dummy satellite
Change the improvement with vibration test scheme, improves Satellite Vibration Test accuracy, meet the experimental technique of satellite force environment
It is required that.
The present invention is mentioned due to being combined using vibration test with virtual reality technology, Dynamics simulation of multi-body system analysis
Supplied more true satellite powered phase in radome fairing, when operation on orbit the practical mechanical environment born virtual vibration examination
It tests, so as to more accurately establish the multi-body Dynamics Model that satellite and shake table are coupled, optimizes dummy satellite structure
Parameter improves the testing program of Satellite Vibration Test.Using virtual reality technology, realize more true visualization with it is man-machine
Interaction platform；Using Transfer Matrix Method, star platform Coupling Dynamic Model is established, the simulation calculation time is reduced；It adopts
It is tested with indeed vibrations and is combined with virtual vibration test, to test data analyzer and physical parameter inverting, pass through virtual test
Point position, the acceleration change of indeed vibrations test can be reproduced, while can damage and destroy with replicate test procedure structure
Situation.The more mechanical environment of real simulation satellite experience, improves test validity, meets Satellite Vibration Test test request.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of virtual vibration test test macro of satellite based on virtual reality, which is characterized in that comprise the following modules:
Virtual reality module: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables each in laboratory
Experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model module: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration Test
Virtual test；
Virtual instrument module: handling the information generated in virtual test, optimizes experiment condition.
2. the virtual vibration test test macro of the satellite according to claim 1 based on virtual reality, which is characterized in that institute
Stating virtual reality module includes:
Input processing module: receiving and transmits the input information of input equipment；
Simulation process module: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual reality field
All kinds of behavioral activities in scape；
Performance processing module: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereo vision module: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
3. the virtual vibration test test macro of the satellite according to claim 1 based on virtual reality, which is characterized in that institute
Stating model module includes:
Dummy satellite submodule: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input and output of power are established
Relationship establishes the equation of transfer and transfer matrix of each volume elements part and connection hinge element, is assemblied into the total equation of transfer of star platform and always passes
Pass matrix；
Shake table model submodule: establishing augmented feature vector, by orthogonality condition, solves to the total equation of transfer of star platform
Even, simultaneous boundary condition obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, and it is special to obtain star platform Coupled Dynamic
Property parameter, carry out star platform couple rapid kinetics response computation, obtain generalized coordinates and dynamic response.
4. the virtual vibration test test macro of the satellite according to claim 1 based on virtual reality, which is characterized in that institute
Virtual instrument module is stated to be made of data Layer, process layer, application layer, it is real by data structure and dynamics of multibody systems algorithm
Now based on the information processing of virtual reality.
5. a kind of virtual vibration test test method of satellite based on virtual reality, which comprises the following steps:
Virtual reality step: building virtual reality scenario is laid out according to laboratory, human-computer interaction is carried out, enables each in laboratory
Experimental facilities has physical attribute in virtual reality scenario, and carries out virtual reality and show；
Model step: constructing the Virtual Star platform model of Satellite Vibration Test, is based on Virtual Star platform model, carries out Satellite Vibration Test
Virtual test；
Virtual instrument step: handling the information generated in virtual test, optimizes experiment condition.
6. the virtual vibration test test method of the satellite according to claim 5 based on virtual reality, which is characterized in that institute
Stating virtual reality step includes:
Input processing step: receiving and transmits the input information of input equipment；
Simulation process step: building virtual reality scenario, realizes virtual test task by simulation engine, generates virtual reality field
All kinds of behavioral activities in scape；
Performance processing step: virtual reality scenario is described from different perspectives, generates and exports various stimulus to the sense organ；
Stereoscopic vision step: the dynamic environment modeling means being imaged based on more visual stereoscopics are provided.
7. the virtual vibration test test method of the satellite according to claim 6 based on virtual reality, which is characterized in that institute
Stating model step includes:
Dummy satellite sub-step: the displacement of satellite and each volume elements part of shake table and each connection hinge element and the input and output of power are established
Relationship establishes the equation of transfer and transfer matrix of each volume elements part and connection hinge element, is assemblied into the total equation of transfer of star platform and always passes
Pass matrix；
Shake table model sub-step: establishing augmented feature vector, by orthogonality condition, solves to the total equation of transfer of star platform
Even, simultaneous boundary condition obtains characteristic equation, and solution obtains intrinsic frequency, and then obtains formation, and it is special to obtain star platform Coupled Dynamic
Property parameter, carry out star platform couple rapid kinetics response computation, obtain generalized coordinates and dynamic response.
8. the virtual vibration test test method of the satellite according to claim 5 based on virtual reality, which is characterized in that institute
It states Virtual Star platform model and passes through following steps:
Building model step: converting physical model for mock-up, establishes to be coupled by the star platform that satellite and shake table form and move
Mechanical model；
Characteristic joins step surely: it is equivalent to star platform Coupling Dynamic Model progress model, obtain star platform coupling dynamic characteristic parameter；
Response computation step: being based on dynamic characteristic parameter, carries out star platform and couples rapid kinetics response computation, obtains the coupling of star platform
Dynamics of multibody systems response；
Model optimization step: in conjunction with sensitivity analysis, parameter optimization is carried out to star platform Coupling Dynamic Model by modal parameter.
9. the virtual vibration test test method of the satellite according to claim 5 based on virtual reality, which is characterized in that institute
Stating building model step includes:
More body transmission steps: converting physical model for mock-up, establishes satellite and each volume elements part of shake table and each connection hinge
The input/output relation of displacement and power between element；
Model foundation step: being based on multi-body system transfer matrix, establishes the equation of transfer and biography of each volume elements part and connection hinge element
Matrix is passed, splicing obtains total equation of transfer and assembled transferring matrix.
10. the virtual vibration test test method of the satellite according to claim 5 based on virtual reality, which is characterized in that
The equivalent model is to establish augmented feature vector, by orthogonality condition, carries out solution of equation idol, simultaneous side to kinetics equation
Boundary's condition obtains characteristic equation, solves characteristic equation and obtains intrinsic frequency, obtains formation, obtains star platform coupling dynamic characteristic ginseng
Number.
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